How can i use the API mode to configure remote xbee devices?

I don’t know to use API mode in XBEE S2 ZB. I need integrate this device with PSoC, and i think that this device is useful to configure others remote device, exchange information, and measurement sensors using API mode. But i don’t know how can i do this, without to use x-ctu. Is possible configure remote devices in this mode?

I’m new to XBee myself, but I’ve been using this article as a guide.

If you don’t want to configure the modules using X-CTU then you need to use digi Gateway and update the API firmware on the modules.